WO2016087970A1 - Bobine de suivi électromagnétique virtuellement orientée pour navigation basée sur cathéter - Google Patents

Bobine de suivi électromagnétique virtuellement orientée pour navigation basée sur cathéter Download PDF

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Publication number
WO2016087970A1
WO2016087970A1 PCT/IB2015/058726 IB2015058726W WO2016087970A1 WO 2016087970 A1 WO2016087970 A1 WO 2016087970A1 IB 2015058726 W IB2015058726 W IB 2015058726W WO 2016087970 A1 WO2016087970 A1 WO 2016087970A1
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WO
WIPO (PCT)
Prior art keywords
coil
medical device
medical
axis
tracking
Prior art date
Application number
PCT/IB2015/058726
Other languages
English (en)
Inventor
Aditya Mehendale
Funda SAHIN
Gregory Cole
Hao SU
Vijay Parthasarathy
Original Assignee
Koninklijke Philips N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips N.V. filed Critical Koninklijke Philips N.V.
Priority to US15/529,766 priority Critical patent/US10966629B2/en
Priority to CN201580065320.8A priority patent/CN106999094B/zh
Priority to EP15800981.1A priority patent/EP3226762B1/fr
Priority to JP2017528944A priority patent/JP6789942B2/ja
Publication of WO2016087970A1 publication Critical patent/WO2016087970A1/fr
Priority to US17/222,389 priority patent/US11925453B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • A61B1/2676—Bronchoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
    • A61B5/4222—Evaluating particular parts, e.g. particular organs
    • A61B5/425—Evaluating particular parts, e.g. particular organs pancreas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0127—Magnetic means; Magnetic markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00274—Prostate operation, e.g. prostatectomy, turp, bhp treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present disclosure relates to medical devices and systems, in particular, to navigation and tracking of invasive medical devices. Even more particularly, the present disclosure relates to medical instruments and more particularly to a system and method to electromagnetically track a component with electromagnetic sensors.
  • In-body tracking of invasive medical devices to determine the spatial relation and distance between the instrument and anatomical structures is employed in performing safe and precise invasive procedures.
  • Devices such as endoscopes, catheters, guidewires etc., navigate through human body passages such as vasculature, gastrointestinal (GI) tracts, lung airways, and others. While these passages provide a pathway for navigation, in many cases they have small diameters, requiring the design of instruments with small diameters/cross sectional profiles.
  • a biopsy device is exemplary of an interventional instrument.
  • a biopsy device is used to take a biopsy sample, drawn through a procedure in which a sample of tissue is obtained for ex vivo pathologic analysis.
  • a biopsy device includes a biopsy needle for acquiring a tissue sample and a lumen provided through a cannula. The needle could be attached to a guide wire threaded through the lumen. The guide wire and needle can be fired through the device and into the patient's body with actuation, such as by a firing handle provided on the device.
  • 6-degree of freedom 6-degree of freedom electromagnetic tracking sensors
  • 5-degree of freedom 5-DOF electromagnetic tracking sensors.
  • 6-DOF 6-degree of freedom
  • 5-DOF 5-degree of freedom
  • 6-DOF 6-degree of freedom
  • a 6-DOF sensor is a pair of electromagnetic coils that are large relative to the diameter of the sampling tool, thereby presenting a design problem.
  • a device having a 5-DOF cannot track the tool insertion angle due to a lack of roll tracking, and thus cannot effectively target a site of interest, for example, a lesion, that lies outside the body passageway that the device travels through and therefore lies away from the central axis of the device.
  • a medical device having a central axis, a channel that receives and transports a medical instrument through the medical device, the channel extending to a distal portion of the medical device and being in
  • a tracking component that is a plurality of coordinated electromagnetic sensors for generating a virtual axis of travel for the medical instrument through the opening, the virtual axis passing through the opening of the device and being aligned with the tool insertion axis.
  • the medical device has a distal portion provided with an opening positioned lateral to the central axis of the device to allow for a tool or instrument to be deployed laterally, e.g., lateral to the central axis of the device.
  • the device includes electromagnetic sensors in the form of a plurality of wound coils of an electromagnetic material that are positioned relative to each other in a manner described herein, which provides for tracking along a virtual axis of instrument deployment.
  • the virtual axis which passes through the opening positioned in a side of the device, is not aligned with the central axis of the device, e.g., the longitudinal direction of the device.
  • the virtual axis and the central device axis intersect with each other at an angle such as an oblique angle.
  • FIG. 1 is system for tracking a medical device embodying present principles
  • FIG. 2A depicts a cross sectional view of a distal portion of medical device in accordance with present principles
  • FIG. 2B is a perspective view of an aspect of an embodiment in accordance with present principles
  • FIG. 2C is a top plan view of an aspect of an embodiment in accordance with present principles.
  • FIG. 3 depicts a top plan view of a device design with a lateral opening
  • FIG. 4 depicts an electromotive force (EMF) induced on a coil in a time-varying magnetic field
  • FIG. 5 depicts a magnetic field resolved along Cartesian coordinate-axes
  • FIG. 6 depicts a combination coil and a single pickup-coil
  • FIG. 7 depicts a single pickup-coil and summed multiple parallel coils
  • FIGS. 8A and 8B are cross-sectional views depicting a distal portion of a medical device according to the present principles.
  • FIG. 9 is a method for tracking a medical device embodying present principles.
  • the medical device is configured to deploy a medical instrument lateral to a central axis of the device.
  • the device includes electromagnetic sensors that create a virtual axis in alignment with an opening in the device that is positioned off of the central axis of the device. Further described in accordance with present principles are a system and method that employ the medical device.
  • the system embodying the present principles provides for tracking the medical device within a patient's body, and the locating of the virtual axis and the adjustment of same.
  • the method provides for conducting a procedure that employs the medical device and system.
  • the medical device has a distal portion provided with an opening positioned lateral to the central axis of the device to allow for a tool or instrument to be deployed laterally, e.g., lateral to the central axis of the device.
  • the device includes electromagnetic sensors in the form of a plurality of wound coils of an electromagnetic material that are positioned relative to each other as described herein that allows for the virtual axis of instrument deployment to be tracked.
  • the virtual axis which passes through the opening positioned in a side of the device, is not aligned with the central axis of the device, e.g., an axis defined by the longitudinal direction of the device.
  • the virtual axis and the central device axis intersect with each other at an angle, e.g., an oblique angle.
  • a current source e.g., an AC current source
  • Magnetic fields are generated that are believed to be responsible for generating the virtual axis.
  • the coil configuration in the aforementioned alignment generates magnetic fields that correspond to the virtual axis extending through the laterally positioned opening in the side of the device.
  • the electromechanical sensors are a pair of wound coils fabricated from an electromagnetically conductive material.
  • One coil is a first coil that fits within the device at a distal portion thereof and is aligned along the longitudinally-extending central axis of the device.
  • the first coil is concentric with the central axis of the device.
  • the second coil is positioned near to the first coil and is aligned orthogonally with respect to the first coil.
  • the second coil is positioned to a side of the central axis of the device, e.g., lateral to the central axis.
  • the second coil may be positioned to the side of a central device lumen that is aligned with the central axis.
  • processor or “controller” should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor ("DSP") hardware, read-only memory (“ROM”) for storing software, random access memory (“RAM”), non-volatile storage, etc.
  • DSP digital signal processor
  • ROM read-only memory
  • RAM random access memory
  • non-volatile storage etc.
  • embodiments of the present principles can take the form of a computer program product accessible from a computer-usable or computer-readable storage medium providing program code for use by or in connection with a computer or any instruction execution system.
  • a computer-usable or computer readable storage medium can be any apparatus that may include, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
  • the medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium.
  • Examples of a computer-readable medium include a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), a rigid magnetic disk and an optical disk.
  • Current examples of optical disks include compact disk - read only memory (CD-ROM), compact disk - read/write (CD-R/W), Blu-RayTM and DVD.
  • such phrasing is intended to encompass the selection of the first listed option (A) only, or the selection of the second listed option (B) only, or the selection of the third listed option (C) only, or the selection of the first and the second listed options (A and B) only, or the selection of the first and third listed options (A and C) only, or the selection of the second and third listed options (B and C) only, or the selection of all three options (A and B and C).
  • This may be extended, as readily apparent by one of ordinary skill in this and related arts, for as many items listed.
  • System 100 may include a workstation or console 112 from which a procedure is supervised and/or managed.
  • Workstation 112 preferably includes one or more processors 114 and memory 116 for storing programs and applications.
  • Memory 116 may store a sensor module 115.
  • the sensor module 115 may be stored in memory 116 or be included as a separate unit.
  • the sensor module interprets the position and orientation of the medical device 200, and is capable of registering coordinate systems of a device imaging system 134 and the tracking system 132.
  • the sensor module 115 is configured to receive feedback from at least two systems, including the system embodying the sensor output readout-equipment 230, and additional systems that may also be employed.
  • the sensor module 115 can transform one coordinate system to the other, transform the local coordinate systems to a common global coordinate system or employ intermediate or other coordinate systems, as the case may be.
  • the medical device 200 may include a bronchoscope, a catheter, a guidewire, a probe, an endoscope, or other medical component.
  • Medical device 200 may be a device used in prostate interventions, a device used in endoscopic retrograde cholangiopancreatography (ERCP), and could be a robotic device that is tracked electromagnetically.
  • the medical device has a cannula sized and dimensioned to pass through a body passageway, the medical device having a central lumen for passing and transporting a medical instrument.
  • the electromagnetic sensors 220, 224 are coupled to the device and connect to the sensor output readout equipment 230, which connects to workstation 112 through wiring 127.
  • workstation 112 includes an image generation module 148 configured to receive feedback from an optional shape sensing device (not shown) and record accumulated position data as to where the shape sensing device has been.
  • An image of the shape sensing device generated by imaging system 134 can be displayed on a display device 118.
  • Workstation 112 includes the display 118 for viewing internal images of a subject (patient) 160 and may include the image as an overlay or other rendering of the history of previous positions of the device.
  • Display 118 may also permit a user to interact with the workstation 112 and its components and functions, or any other element within the system 100. This is further facilitated by an interface 120 which may include a keyboard, mouse, a joystick, a haptic device, or any other peripheral or control to permit user feedback from and interaction with the workstation 112.
  • the tracking system 132 includes an electromagnetic (EM) tracking system that includes electromagnetic sensing coils 220, 224, which track spatial positions of the device.
  • the coils are connected as set forth above through to the workstation 112. Electrical signals are transported to and from the sensors. If necessary, the system may include one or more amplifiers (not shown) for strengthening the electrical output signal of the sensors.
  • Other tracking systems may include optical tracking systems, optical shape sensing systems or any other suitable tracking system.
  • workstation 1 12 records data as to where the device 200 is within the patient 160.
  • Workstation 112 may include a display 118 for viewing internal images of patient 160 and may include ultrasound images as an overlay or other rendering which also shows the device 130 and its positions.
  • Display 1 18 may also permit a user to interact with the workstation 112 and its components and functions, or any other element within the system 100. This is further facilitated by the interface 120.
  • Medical device 200 has an outer cannula 204 provided with central lumen 206 through which a medical instrument, e.g., a biopsy needle (not shown) can be guided.
  • the cannula 204 is designed to have a diameter/cross sectional profile that would allow the device to fit in and travel through a body passageway of the patient, e.g., the air pathways in the lungs of a mammal, such as a human.
  • the central lumen 206 has a portion 208 that is concentric along the central axis 210 of the medical device 200.
  • the central lumen 206 includes a turn 212 that gradually turns the central lumen laterally, i.e., towards sidewall 214 of the device.
  • the turn communicates with opening 216 in the tip 219 of the device.
  • the opening 216 is positioned laterally to the central axis of the device.
  • Tool insertion axis 218 is defined through the turn 212 and laterally positioned opening 216 of the medical device 200.
  • Device 200 further includes coil 220 positioned along the central axis 210 of the device and affixed thereto. Coil 220 is aligned with the central device axis 210 is concentric with the central device axis.
  • Second coil 224 is positioned near to and in orthogonal alignment with the first coil 220 and is affixed to the device. As depicted, the central axis of second coil is at a right angle to the central axis of the first coil 220. The central axis of second coil is perpendicular to the central axis of the first coil 220. The central axes of the first and second coils are the axes that pass through the hollow middle of the coils, which in one embodiment, are coreless coils.
  • the second coil 224 is positioned to the side of the central axis 210 of the device, and to the side of the central axial portion 208 of the central lumen 206 of the device.
  • first coil 220 is larger than the second coil 224. In one embodiment, this is due to a difference in the number of wire windings of the first and second coils, with the number or wire windings respectively expressed as Ni and N 2 , where N is the number of turns, the subscripts identify the first and second coils respectively, and Ni > N 2 .
  • FIG. 2B depicts first coil having Ni turns. FIG 2B is intended to be exemplary; the same configuration could apply to second coil 224.
  • the first coil 220 and the second coil 224 are wound from an electromagnetic material having a predetermined number of turns Ni and N 2 and coil cross sectional area Ai for the first coil 220 and A 2 for the second coil 224.
  • FIG. 2C depicts first coil cross sectional area A .
  • FIG 2C is intended to be exemplary; the same configuration could apply to second coil 224.
  • the multiplication product of N- A provides a sensitivity value S employed to align the tracker vector 222 with the tool insertion axis 218 that passes through laterally positioned opening 216 of the device.
  • the tracker vector 222 also referred to herein as the virtual axis, is aligned with the device opening 216.
  • This arrangement can effectively track a medical instrument traveling along the tool insertion axis 218 passing through the device opening 216, since the virtual axis 222 and the tool insertion axis 218 are aligned with each other.
  • the electromagnetic coils 220, 224 when generating magnetic effects due to electrical excitement, will provide a signal that is a weighted average of the two coils that aligns along the virtual axis.
  • a sensor arrangement could fit into the space allowed by existing device designs while providing for direct tracking of the tool insertion pathway along the virtual axis.
  • FIG. 3 shows an inventive arrangement in which the second coil 224 fits within the cross sectional geometry of the lumen along with a medical instrument, e.g., needle (not shown) that travels though the device to a site of a medical procedure and thereby provides an arrangement for tracking an instrument as it deploys laterally through the opening in the device.
  • a medical instrument e.g., needle (not shown) that travels though the device to a site of a medical procedure and thereby provides an arrangement for tracking an instrument as it deploys laterally through the opening in the device.
  • the tracker vector angle ⁇ 222 generated by the sensor arrangement is the same as the tool insertion axis angle ⁇ 2 ⁇ 8_ as the generated virtual axis is aligned with and passes through the device opening 216. Further shown is the electrical wiring (input and output) 226, 228 connecting an AC current 227 source to the tracking arrangement and to a measuring instrument 230. In one embodiment, the coils are wired in series. Information from the sensors is analyzed by sensor output readout-equipment 230 which is exemplified by a synchronous voltage (amplitude + phase) detector.
  • the excitation source could be a current source(s) with a suitable frequency and phase profile(s) applied to one or more coils.
  • a synchronous voltage detector resolves the measured signal against the excitation and thereby a determination concerning the geometrical relation between the coil components can be made.
  • an AC voltmeter is used in the analysis.
  • the electrical sensor output signal is amplified with a suitable amplifier (not shown).
  • At least one of the first coil 220 and the second coil 224 are cylindrically symmetrical. In one other embodiment, all provided coils are in this arrangement. In one other embodiment, the at least one coil is a unit of helically wound loops, which loops define circular areas, the at least one coil thus being cylindrically symmetrical. In one other embodiment, all provided coils are in this arrangement. In one other embodiment of present principles, the loops of the at least one coil define areas that are substantially perpendicular to a lengthwise axis X that passes through the coil. In one other embodiment, all provided coils are in this arrangement. Lengthwise axis X is shown in FIG.
  • first coil 220 which arrangement could also apply to second coil 224.
  • Lengthwise axis X passes through the coil, i.e., it passes through the drawing page.
  • the first coil and the second coil both meet at least one of the criteria of this paragraph.
  • Electromagnetic tracking employed in the present application relies upon
  • EMF electromotive force
  • the sensitivity has effective direction 314 that extends normal to the encircled coil area 240, pointing in a right-hand-sense when considering the coil-winding.
  • Sensitivity and its effective direction (vector) is dependent on coil positioning and orientation, number of wire turns N, and cross-sectional areas A of the coils.
  • the EMF generated per rate of change of flux density by a given pickup coil is dependent in part on the sensitivity of the pickup coil in its particular position and orientation as referenced to the primary source of the generated magnetic field. Connecting two coils in series, as may be the case in described embodiments, the EMF resulting from the combination corresponds to the tracker vector 222 (FIG. 2A). The resulting EMF is a vector-sum of the individual sensitivities.
  • the two coils can each be advantageously wound in the aforedescribed directions for the first coil 220 and the second coil 224.
  • the vector of the combination "virtual" coil is aligned with, e.g., is parallel to the tool insertion axis passing through the opening in the side of the device.
  • the tracker vector 222 aligns with the tool insertion axis 218 along angle ⁇ (FIG. 2A). This is the product of adjusting the sensitivities of the two coils, in which they are coordinated to provide alignment and generate a virtual axis.
  • the magnetizing source - which can be a primary coil 242 subjected to a magnetizing current ⁇ generates the time-varying field
  • the flux density at a point in a given coordinate frame of reference can be resolved into its coordinate components.
  • the flux density B at a certain point is shown resolved in the three axes of a Cartesian coordinate system.
  • Three pickup coils 242x, 242y, 242z, which are orthogonal to each other, are respectively aligned with the x, y, z axes, and which are respectively coupled to electrical wires 316, 318, 320, represent the components of the varying magnetic flux density B, denoted 317, in terms of three EMF directions Ux, Uy and Uz of the relatively large coil 242 spatially arranged in the x, y and z planes.
  • the x, y and z component EMFs it is possible to determine the rate of change of flux (vector) at that point.
  • the magnetic flux density B B x + By + B z ;
  • Electrodes 316, 318, 320 are coupled to a device for analyzing the EMF components Ux, Uy and Uz. Note that the effective sensitivity 326 has x, y and z components.
  • the rate of change of the (vector) flux-density may be measured and resolved along orthogonal axes through the generated EMFs.
  • superposition may be applied, whereby the addition of two EMFs from two separate (e.g. orthogonal) pickup-coils may be used to emulate the EMF on a single pickup coil corresponding to the sum of the two coils. See FIG. 6, in which superposition of coils 244, 246 (EMF Ua) is used to create an equivalence of a combination to a single pickup-coil 245 (EMF Ub), where Ua ⁇ Ub. Electrical wires 322, 324 are coupled to a device for analyzing the EMF components Ua, Ub. Note that the effective sensitivity 328 has x, y and z components.
  • EMF Ua An approximation of the EMF caused by a time varying flux density on a pickup coil at a given point may be obtained by combining two separate coils 248, 250 (EMF Ua), each placed away from the particular point. This is illustrated in FIG. 7.
  • a single pickup coil 252 (EMF Ub) may be approximated by a sum of multiple parallel coils 248, 250 (EMF Ua), which are connected in series by wire 321.
  • Electrical wires 330, 332 are coupled to a device for powering coils and analyzing the EMF components Ua.
  • the combination of multiple coils can be regarded as a virtual coil, the sensitivity of which is a vector sum of the sensitivities of each of its constituent coils.
  • two orthogonal coils can be used to create a virtual coil on an axis that is tilted with respect to the central device axis.
  • a virtual, inclined coil is realized by combining the vectors of the first and second electromagnetic sensing coils 220, 224 to create the virtual tracking axis, e.g., tracker vector 222.
  • Other arrangements as described herein are also possible.
  • FIGS. 8A and 8B show the second coil 224 in orthogonal arrangement with respect to first coil 220.
  • Second coil 224 is positioned to the side of the concentric portion 208 of the central device lumen 206, which lies concentric to the central device axis 210.
  • First coil is concentric with the central device axis 210.
  • the central device lumen 206 passes through the first coil 224 and is in concentric relationship with the first coil.
  • turn 212 is shown as being a gradually rounded turn that communicates with opening 216.
  • information from the sensors is analyzed by readout-equipment that could be a synchronous voltage (amplitude + phase) detector.
  • the excitation source could be a current source(s) with a suitable frequency and phase profile(s) applied to one or more coil.
  • a synchronous detector would resolve the measured signal against the excitation and thereby would draw conclusions about the geometrical relation between the coil components.
  • an AC voltmeter is used in the analysis.
  • FIG. 9 shows another inventive embodiment that is a method 800 for tracking a medical instrument coupled to a medical device in which the medical instrument is deployed along a tool insertion axis that is not aligned with a central device axis.
  • the method contemplates employing the medical device 200 and system 100, but is not limited to them.
  • a medical device with virtual axis tracking capability e.g., a plurality of coordinated electromagnetic sensors, is inserted into a patient for purposes of conducting a medical procedure in a location that that is not aligned with the central axis of the medical device.
  • the site of the medical procedure may lie outside of a body passageway that the medical device travels through.
  • the medical device is moved through a body passageway to a location where a medical procedure is to be conducted.
  • imaging systems such as ultrasound may be employed to position the medical device in the desired location.
  • signals obtained from the electromagnetic sensors determine the location and positioning of the tracker vector, e.g., virtual axis, which is in alignment with the opening in the side of the medical device. This information determines if the virtual axis is aligned with the site of the medical procedure. If the virtual axis is in alignment, then the tool insertion axis through the device opening is in alignment with the site.
  • a tissue sample may be desired from a body location located at point A having, e.g., x, y and z coordinates in an exemplary three-dimensional configuration. The opening, and hence the tool insertion axis, should align with point A to order to obtain a tissue sample at the desired location.
  • the medical device may have to be rotated about the central device axis to place the opening (and tool insertion axis) into alignment with the site for sampling.
  • the medical instrument is inserted and moved through the device.
  • the medical instrument is directed through the opening in the device that is along the virtual axis.
  • the medical instrument is aligned with the virtual axis.
  • the medical procedure is conducted at a lateral site, e.g., on a side of the body passageway or at a site outside of the body passageway.
  • the medical device is directed to the site of the medical procedure and the medical procedure is conducted.
  • the medical instrument is retrieved in block 860, i.e., drawn back into the device, and the device is removed from the patient's body in block 870.
  • One specific embodiment employing the general principles described above is a bronchoscopy procedure in which a biopsy needle (instrument) is passed through a
  • the distal tip of the bronchoscope is provided with an opening not lying on the central axis of the scope, or in other words, the opening is lateral to the central axis of the device.
  • the sample to be taken lies outside of the air passageway of the patient through which the bronchoscope will travel.

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Abstract

La présente invention concerne un système (100) et un dispositif médical (200) pour le suivi électromagnétique d'un instrument médical transporté à travers un dispositif médical, le dispositif médical ayant un axe central (210), un canal (206) qui reçoit et transporte un instrument médical à travers le dispositif médical, le canal s'étendant vers une partie distale (202) du dispositif médical et étant en communication avec une ouverture (216) dans le dispositif médical qui n'est pas alignée avec l'axe central, le dispositif ayant un composant de suivi (220, 224) qui est une pluralité de capteurs électromagnétiques coordonnés pour générer un axe virtuel (222) de déplacement pour l'instrument médical, l'axe virtuel passant par l'ouverture du dispositif et étant aligné avec un axe d'insertion d'outil (206).
PCT/IB2015/058726 2014-12-01 2015-11-12 Bobine de suivi électromagnétique virtuellement orientée pour navigation basée sur cathéter WO2016087970A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US15/529,766 US10966629B2 (en) 2014-12-01 2015-11-12 Virtually-oriented electromagnetic tracking coil for catheter based navigation
CN201580065320.8A CN106999094B (zh) 2014-12-01 2015-11-12 用于基于导管的导航的虚拟定向的电磁跟踪线圈
EP15800981.1A EP3226762B1 (fr) 2014-12-01 2015-11-12 Bobine de suivi électromagnétique virtuellement orientée pour navigation basée sur cathéter
JP2017528944A JP6789942B2 (ja) 2014-12-01 2015-11-12 医療器具を追跡するためのシステム及び医療デバイス
US17/222,389 US11925453B2 (en) 2014-12-01 2021-04-05 Virtually-oriented electromagnetic tracking system for medical instrument navigation

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US201462085685P 2014-12-01 2014-12-01
US62/085,685 2014-12-01

Related Child Applications (2)

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US15/529,766 A-371-Of-International US10966629B2 (en) 2014-12-01 2015-11-12 Virtually-oriented electromagnetic tracking coil for catheter based navigation
US17/222,389 Division US11925453B2 (en) 2014-12-01 2021-04-05 Virtually-oriented electromagnetic tracking system for medical instrument navigation

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WO2016087970A1 true WO2016087970A1 (fr) 2016-06-09

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PCT/IB2015/058726 WO2016087970A1 (fr) 2014-12-01 2015-11-12 Bobine de suivi électromagnétique virtuellement orientée pour navigation basée sur cathéter

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US (2) US10966629B2 (fr)
EP (1) EP3226762B1 (fr)
JP (1) JP6789942B2 (fr)
CN (1) CN106999094B (fr)
WO (1) WO2016087970A1 (fr)

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JP2018500079A (ja) 2018-01-11
JP6789942B2 (ja) 2020-11-25
CN106999094B (zh) 2021-04-13
US20170325715A1 (en) 2017-11-16
US10966629B2 (en) 2021-04-06
CN106999094A (zh) 2017-08-01
EP3226762B1 (fr) 2021-05-19
US20210219865A1 (en) 2021-07-22
EP3226762A1 (fr) 2017-10-11
US11925453B2 (en) 2024-03-12

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